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Add Distance to GCS to Vehicle FactGroup

QGC4.4
Don Gagne 7 years ago
parent
bcabdc26af
commit
c7246a368e
7 changed files with 63 additions and 21 deletions
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  1. 1
      ChangeLog.md
  2. 21
      src/FlightMap/FlightMap.qml
  3. 14
      src/PositionManager/PositionManager.cpp
  4. 18
      src/PositionManager/PositionManager.h
  5. 18
      src/Vehicle/Vehicle.cc
  6. 5
      src/Vehicle/Vehicle.h
  7. 7
      src/Vehicle/VehicleFact.json

1
ChangeLog.md
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@ -8,6 +8,7 @@ Note: This file only contains high level features or important fixes. @@ -8,6 +8,7 @@ Note: This file only contains high level features or important fixes.
* Add support for specifying fixed RTK based station location in Settings/General.
* Added Airmap integration to QGC
* Add ESTIMATOR_STATUS values to new estimatorStatus Vehicle FactGroup. These are now available to display in instrument panel.
* Make Distance to GCS to available for display from instrument panel.
## 3.4

21
src/FlightMap/FlightMap.qml
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@ -34,7 +34,7 @@ Map { @@ -34,7 +34,7 @@ Map {
property string mapName: 'defaultMap'
property bool isSatelliteMap: activeMapType.name.indexOf("Satellite") > -1 || activeMapType.name.indexOf("Hybrid") > -1
property var gcsPosition: QtPositioning.coordinate()
property var gcsPosition: QGroundControl.qgcPositionManger.gcsPosition
property bool userPanned: false ///< true: the user has manually panned the map
property bool allowGCSLocationCenter: false ///< true: map will center/zoom to gcs location one time
property bool allowVehicleLocationCenter: false ///< true: map will center/zoom to vehicle location one time
@ -80,19 +80,12 @@ Map { @@ -80,19 +80,12 @@ Map {
ExclusiveGroup { id: mapTypeGroup }
// Update ground station position
Connections {
target: QGroundControl.qgcPositionManger
onLastPositionUpdated: {
if (valid && lastPosition.latitude && Math.abs(lastPosition.latitude) > 0.001 && lastPosition.longitude && Math.abs(lastPosition.longitude) > 0.001) {
gcsPosition = QtPositioning.coordinate(lastPosition.latitude,lastPosition.longitude)
if (!firstGCSPositionReceived && !firstVehiclePositionReceived && allowGCSLocationCenter) {
firstGCSPositionReceived = true
center = gcsPosition
zoomLevel = QGroundControl.flightMapInitialZoom
}
}
// Center map to gcs location
onGcsPositionChanged: {
if (gcsPosition.isValid && allowGCSLocationCenter && !firstGCSPositionReceived && !firstVehiclePositionReceived) {
firstGCSPositionReceived = true
center = gcsPosition
zoomLevel = QGroundControl.flightMapInitialZoom
}
}

14
src/PositionManager/PositionManager.cpp
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@ -60,7 +60,19 @@ void QGCPositionManager::setNmeaSourceDevice(QIODevice* device) @@ -60,7 +60,19 @@ void QGCPositionManager::setNmeaSourceDevice(QIODevice* device)
void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
{
emit lastPositionUpdated(update.isValid(), QVariant::fromValue(update.coordinate()));
QGeoCoordinate newGCSPosition = QGeoCoordinate();
if (update.isValid()) {
// Note that gcsPosition filters out possible crap values
if (qAbs(update.coordinate().latitude()) > 0.001 && qAbs(update.coordinate().longitude()) > 0.001) {
newGCSPosition = update.coordinate();
}
}
if (newGCSPosition != _gcsPosition) {
_gcsPosition = newGCSPosition;
emit gcsPositionChanged(_gcsPosition);
}
emit positionInfoUpdated(update);
}

18
src/PositionManager/PositionManager.h
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@ -25,6 +25,8 @@ public: @@ -25,6 +25,8 @@ public:
QGCPositionManager(QGCApplication* app, QGCToolbox* toolbox);
~QGCPositionManager();
Q_PROPERTY(QGeoCoordinate gcsPosition READ gcsPosition NOTIFY gcsPositionChanged)
enum QGCPositionSource {
Simulated,
InternalGPS,
@ -32,6 +34,8 @@ public: @@ -32,6 +34,8 @@ public:
NmeaGPS
};
QGeoCoordinate gcsPosition(void) { return _gcsPosition; }
void setPositionSource(QGCPositionSource source);
int updateInterval() const;
@ -45,13 +49,15 @@ private slots: @@ -45,13 +49,15 @@ private slots:
void _error(QGeoPositionInfoSource::Error positioningError);
signals:
void lastPositionUpdated(bool valid, QVariant lastPosition);
void gcsPositionChanged(QGeoCoordinate gcsPosition);
void positionInfoUpdated(QGeoPositionInfo update);
private:
int _updateInterval;
QGeoPositionInfoSource * _currentSource;
QGeoPositionInfoSource * _defaultSource;
QNmeaPositionInfoSource * _nmeaSource;
QGeoPositionInfoSource * _simulatedSource;
int _updateInterval;
QGeoCoordinate _gcsPosition;
QGeoPositionInfoSource* _currentSource;
QGeoPositionInfoSource* _defaultSource;
QNmeaPositionInfoSource* _nmeaSource;
QGeoPositionInfoSource* _simulatedSource;
};

18
src/Vehicle/Vehicle.cc
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@ -39,6 +39,7 @@ @@ -39,6 +39,7 @@
#include "QGCCameraManager.h"
#include "VideoReceiver.h"
#include "VideoManager.h"
#include "PositionManager.h"
#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceVehicleManager.h"
#endif
@ -69,6 +70,7 @@ const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL"; @@ -69,6 +70,7 @@ const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL";
const char* Vehicle::_flightDistanceFactName = "flightDistance";
const char* Vehicle::_flightTimeFactName = "flightTime";
const char* Vehicle::_distanceToHomeFactName = "distanceToHome";
const char* Vehicle::_distanceToGCSFactName = "distanceToGCS";
const char* Vehicle::_hobbsFactName = "hobbs";
const char* Vehicle::_gpsFactGroupName = "gps";
@ -192,6 +194,7 @@ Vehicle::Vehicle(LinkInterface* link, @@ -192,6 +194,7 @@ Vehicle::Vehicle(LinkInterface* link,
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _gpsFactGroup(this)
, _battery1FactGroup(this)
@ -385,6 +388,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType, @@ -385,6 +388,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _distanceToGCSFact (0, _distanceToGCSFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _gpsFactGroup(this)
, _battery1FactGroup(this)
@ -405,9 +409,12 @@ void Vehicle::_commonInit(void) @@ -405,9 +409,12 @@ void Vehicle::_commonInit(void)
connect(_firmwarePlugin, &FirmwarePlugin::toolbarIndicatorsChanged, this, &Vehicle::toolBarIndicatorsChanged);
connect(this, &Vehicle::coordinateChanged, this, &Vehicle::_updateDistanceToHome);
connect(this, &Vehicle::coordinateChanged, this, &Vehicle::_updateDistanceToGCS);
connect(this, &Vehicle::homePositionChanged, this, &Vehicle::_updateDistanceToHome);
connect(this, &Vehicle::hobbsMeterChanged, this, &Vehicle::_updateHobbsMeter);
connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
@ -453,6 +460,7 @@ void Vehicle::_commonInit(void) @@ -453,6 +460,7 @@ void Vehicle::_commonInit(void)
_addFact(&_flightDistanceFact, _flightDistanceFactName);
_addFact(&_flightTimeFact, _flightTimeFactName);
_addFact(&_distanceToHomeFact, _distanceToHomeFactName);
_addFact(&_distanceToGCSFact, _distanceToGCSFactName);
_hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
_addFact(&_hobbsFact, _hobbsFactName);
@ -3598,6 +3606,16 @@ void Vehicle::_updateDistanceToHome(void) @@ -3598,6 +3606,16 @@ void Vehicle::_updateDistanceToHome(void)
}
}
void Vehicle::_updateDistanceToGCS(void)
{
QGeoCoordinate gcsPosition = _toolbox->qgcPositionManager()->gcsPosition();
if (coordinate().isValid() && gcsPosition.isValid()) {
_distanceToGCSFact.setRawValue(coordinate().distanceTo(gcsPosition));
} else {
_distanceToGCSFact.setRawValue(qQNaN());
}
}
void Vehicle::_updateHobbsMeter(void)
{
_hobbsFact.setRawValue(hobbsMeter());

5
src/Vehicle/Vehicle.h
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@ -656,6 +656,7 @@ public: @@ -656,6 +656,7 @@ public:
Q_PROPERTY(Fact* altitudeAMSL READ altitudeAMSL CONSTANT)
Q_PROPERTY(Fact* flightDistance READ flightDistance CONSTANT)
Q_PROPERTY(Fact* distanceToHome READ distanceToHome CONSTANT)
Q_PROPERTY(Fact* distanceToGCS READ distanceToGCS CONSTANT)
Q_PROPERTY(Fact* hobbs READ hobbs CONSTANT)
Q_PROPERTY(FactGroup* gps READ gpsFactGroup CONSTANT)
@ -945,6 +946,7 @@ public: @@ -945,6 +946,7 @@ public:
Fact* altitudeAMSL (void) { return &_altitudeAMSLFact; }
Fact* flightDistance (void) { return &_flightDistanceFact; }
Fact* distanceToHome (void) { return &_distanceToHomeFact; }
Fact* distanceToGCS (void) { return &_distanceToGCSFact; }
Fact* hobbs (void) { return &_hobbsFact; }
FactGroup* gpsFactGroup (void) { return &_gpsFactGroup; }
@ -1190,6 +1192,7 @@ private slots: @@ -1190,6 +1192,7 @@ private slots:
void _clearTrajectoryPoints(void);
void _clearCameraTriggerPoints(void);
void _updateDistanceToHome(void);
void _updateDistanceToGCS(void);
void _updateHobbsMeter(void);
void _vehicleParamLoaded(bool ready);
void _sendQGCTimeToVehicle(void);
@ -1453,6 +1456,7 @@ private: @@ -1453,6 +1456,7 @@ private:
Fact _flightDistanceFact;
Fact _flightTimeFact;
Fact _distanceToHomeFact;
Fact _distanceToGCSFact;
Fact _hobbsFact;
VehicleGPSFactGroup _gpsFactGroup;
@ -1480,6 +1484,7 @@ private: @@ -1480,6 +1484,7 @@ private:
static const char* _flightDistanceFactName;
static const char* _flightTimeFactName;
static const char* _distanceToHomeFactName;
static const char* _distanceToGCSFactName;
static const char* _hobbsFactName;
static const char* _gpsFactGroupName;

7
src/Vehicle/VehicleFact.json
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@ -91,6 +91,13 @@ @@ -91,6 +91,13 @@
"units": "m"
},
{
"name": "distanceToGCS",
"shortDescription": "Distance to GCS",
"type": "double",
"decimalPlaces": 1,
"units": "m"
},
{
"name": "flightTime",
"shortDescription": "Flight Time",
"type": "elapsedSeconds",

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